EP3237320B1 - Method for monitoring crane safety and system for monitoring crane safety - Google Patents

Method for monitoring crane safety and system for monitoring crane safety Download PDF

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Publication number
EP3237320B1
EP3237320B1 EP15808541.5A EP15808541A EP3237320B1 EP 3237320 B1 EP3237320 B1 EP 3237320B1 EP 15808541 A EP15808541 A EP 15808541A EP 3237320 B1 EP3237320 B1 EP 3237320B1
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EP
European Patent Office
Prior art keywords
crane
inclination
tower
revolving
accordance
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EP15808541.5A
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German (de)
French (fr)
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EP3237320A1 (en
Inventor
Jacek Krupinski
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Liebherr Werk Biberach GmbH
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Liebherr Werk Biberach GmbH
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/26—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/74—Counterweights or supports for balancing lifting couples separate from jib
    • B66C23/76—Counterweights or supports for balancing lifting couples separate from jib and movable to take account of variations of load or of variations of length of jib
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear

Definitions

  • the present application relates to a method for monitoring the crane safety, in particular a tower crane, as well as a system for monitoring the pitch of a crane, according to claims 1 and 14.
  • the US20030127409 discloses a method and a device for controlling / monitoring the secure opening and folding of a tower crane, wherein an ensemble of sensors serves to detect the arrival of the mast elements and / or the boom elements of the crane in intermediate positions and in the end position, said sensors with a sequence control unit of the hydraulic cylinder or other actuators are connected.
  • the monitoring of the stability of a crane is currently carried out in a known manner by measuring secondary values on the crane. In this case, a moment as a result of the load of the crane is monitored by a load torque. All other influences are not taken into account. These influences are, for example, errors in the construction of the crane, when e.g. is leveled incorrectly, subsidence of the substructure, tolerances in the construction of the tower, wind, etc ..
  • tilt sensors which are very robust and accurate and which serve to either monitor the stability of the machine or to improve the quality of the work to be done.
  • the position of the upper crane to the tower system and the substructure is not considered at all.
  • a device for the continuous determination of the stability is provided with four observation points spaced apart from each other, which has devices for detecting values relevant for the stability. These devices direct the detected values to a comparator for comparison with predetermined maximum allowable values or turn off directly. When a predetermined fixed value is exceeded at an observation point, a monitoring signal is output, which indicates that the stability is no longer present. The rotation of the crane changes the stability.
  • the currently used systems thus take into account only a defined and maximum stability, regardless of the position of the upper crane. Furthermore, today situations in the construction of the crane are excluded from the monitoring, which could have devastating consequences in construction.
  • the monitoring of stability begins in the known systems only after the crane is set up. Also in use, situations arise that are not currently detected, e.g. Settlement in the substructure or damage.
  • the object of the present invention is therefore to provide a method for monitoring crane safety and a system for checking the inclination of a crane, in particular a tower crane, so that the stability of the crane during construction and dismantling of the crane and throughout the operation is ensured and the quality of the work done is substantially improved.
  • the inventive method for monitoring the safety of a crane in particular a tower crane with a turntable, which has a sensor and a crane control, has in a conventional manner further at least one tilt sensor.
  • the at least one tilt sensor attached to the revolving stage of the tower crane and installed, the safety monitoring still begins and at least during the construction and dismantling of the tower crane.
  • the at least one tilt sensor to an accurate resolution and can take over an independent monitoring of the crane.
  • the tilt sensor as a supplement to existing safety devices to increase the accuracy of the monitoring and thus safety. Due to the inclination monitoring of the crane according to the invention even during construction, in the case of an inadmissible inclination of the revolving platform during the construction of the crane, the tower structure can be corrected immediately.
  • the position of the revolving stage is determined via the at least one inclination sensor.
  • the received measured values are then transmitted to the crane control for evaluation, whereby a measure is triggered when a limit value is exceeded.
  • a measure is triggered when a limit value is exceeded.
  • This can be an acoustic and / or visual signal, so that the installer is informed immediately about the exceeding of the limit value. Thereupon the structure can be aborted automatically but also manually.
  • the construction of a tower crane begins in a known manner with the assembly of the substructure and the tower. Then the revolving stage with the built-in at least one tilt sensor is placed.
  • the monitoring by the method according to the invention begins after placing the revolving stage, which is already provided with the at least one tilt sensor.
  • the at least one inclination sensor is attached to a suitable location of the revolving stage, so that it shows the position of the revolving stage.
  • the inclination of the revolving stage is compared with the inclination provided for the respective structure, wherein a warning signal is output when the permissible inclination is exceeded.
  • the collected data is then logged.
  • the crane control in this case has a memory unit in which the detected values are stored.
  • a correction of the data determined by the at least one tilt sensor can be carried out in conjunction with the values determined via an anemometer, so that a release for further assembly steps is given.
  • the counterjib is mounted, the jib and the hoist winch generating a moment, which subsequently results in a slope depending on the height of the tower.
  • This inclination can then be determined with the at least one inclination sensor and compared with data stored in the crane control.
  • a rotation angle sensor is used to determine the position-dependent inclination of the tower and that over corner or perpendicular to the wall. A 360 ° rotation can fully reproduce the inclination pattern - also in conjunction with the wind measurement. Then the release for further assembly steps, in particular for the placement of the necessary mounting counter ballast.
  • the inclination in particular the inclination angle, is determined after the assembly of the counter ballast and compared with the stored, predetermined values. A permissible, but also necessary inclination confirms that the counter ballast matches the mounted boom length.
  • the inclination is noted again after mounting the boom to record an intermediate step.
  • the monitoring according to the invention with the at least one tilt sensor is preferably carried out not only during construction but also during dismantling of the jib and / or counter jib. If the horizontal force is greater than permissible, the inclination increases and, if permissible inclination values are exceeded, a warning signal is emitted according to the invention.
  • a correction of the data determined by the at least one inclination sensor can be carried out in conjunction with values determined via an intended anemometer, so that a release for further assembly steps can take place.
  • the angle of inclination is constantly monitored as a function of load torque / stationary torque and angle of rotation of the crane after assembly during operation, with deviations from permissible stored values being displayed. It can be dispensed with the monitoring of wind action.
  • the wind action can change the inclination according to the wind speed. In this case, unforeseen influences such as ice sheet, advertising signs, etc. must also be taken into account automatically. If these deviations exceed the permissible limits, a warning signal is output and, if necessary, the operation is aborted.
  • a monitoring according to the invention which may also be a remote monitoring, in operation or out of service, it can be determined very quickly whether the crane substructure is constructed correctly. It can also be done with the inventive method, a precise monitoring of special strokes.
  • the above object is also achieved by a system for monitoring the crane safety of a crane, in particular a tower crane with a revolving platform, with the features of claim 14.
  • the system according to the invention has a sensor system and a crane control, at least one inclination sensor mounted on a revolving platform being provided for monitoring the safety during at least the erection and dismantling of the tower crane and also during operation of the erected crane.
  • the method according to the invention and the system according to the invention can find a further use in monitoring the so-called climbing process.
  • the maximum permissible deviation for each tower system can be achieved and stored in the monitoring system. After the specification of the respective system also a compensation can take place. It can be regarded as particularly advantageous the fact that the inclination monitoring all external influences, such as wind, sum of tolerances on the tower, additional loads, for example by amount of cable, etc. are taken into account.
  • the leveling of a tower crane turning downwards can also be considered.
  • FIG. 1 shows a simplified schematic side view of a tower crane 10 (here as bottom rotating tower crane) with a base 12 and a turret 14, which has a rotating platform 16. Furthermore, the crane 10 has a tower 18 and a boom 20 attached to the tower 18. On the boom 20 is a trolley not shown with a load hook on which the load 22 depends. The trolley slides in a horizontal direction, represented by an arrow 24, along the boom 20. Furthermore, the crane 10 has a counter-jib 26.
  • the system according to the invention for monitoring the stability of the tower crane 10 has a sensor system and a crane control not shown here.
  • a tilt sensor 28 is installed with a very accurate resolution such that the position of the turntable 16 can be easily determined.
  • the actual monitoring begins according to the invention still in the construction of the crane 10, wherein in known per se first the substructure 12 and the mast or the tower 18 is mounted and only then the turntable 16 is fitted with the already installed tilt sensor 28.
  • the inclination sensor 28 shows the position of the revolving stage 16. Is the inclination of the revolving stage greater than that for the tower height provided, the fitter is informed and the received and evaluated data are then logged.
  • FIGS. 2 and 3 show a simplified schematic view of a crane 10 (here as tower tower rotating overhead crane) with the revolving platform 16 and the tower 18.
  • the inclination of the revolving platform 16 is determined by the angle a (x), as in Figures 2 and 3 shown, as a function of the tower height / tower combination, TH (x) determined via the inclination sensor 28 and compared with allowable inclination values stored in the crane control. If the inclination is within the permissible limits, the structure of the crane is continued. However, if the inclination of the revolving stage is greater than that intended for the respective structure (tower height), a warning signal is output, so that the installer is informed immediately and the further construction of the crane is interrupted. After a correction, the structure is then continued. It can also be provided more inclination sensors.
  • Fig. 4 shows the further assembly steps, namely the mounting of the counter-jib 26.
  • the counter-jib 26 and the hoist winch thereby generate a moment from which results in a consequent inclination in connection with the tower height.
  • the inclination is determined with the inclination sensor 28, wherein the angle ⁇ 1 (x) is recorded. If the angle ⁇ 1 (x) is greater than a permissible angle, a warning signal is output.
  • a rotation angle sensor must be used to determine the position-dependent inclination of the tower.
  • the tilt image is then rotated through 360 ° and completely imaged in conjunction with the wind measurement.
  • the angle ⁇ 2 (x) is again determined as a function of the tower height / tower combination (x) and compared with the stored values.
  • the boom 20 is mounted as in Fig. 6 and the inclination is determined by the angle ⁇ 3 (x). This is in comparison to the angle ⁇ 2 (x), although larger, but a permissible, but also necessary tendency confirmed that the counter ballast fits to the assembled boom length.
  • the slope is noted again to record an intermediate step.
  • Fig. 7 shows the trolley in the mounting position.
  • the counter ballast 30 is completed and the angle ⁇ 4 (x) determined.
  • the crane is rotated by 360 ° to confirm the permissibility of the slopes for the specified configuration of the crane. This can be done with the trolley 32 on the tower, as in Fig. 8 shown and / or with the trolley 32 on the boom tip 34, as in Fig. 9 shown, done. In each case, the angles ⁇ 5 (x) and ⁇ 6 (x) are determined and compared with the permissible angles.
  • FIG. 11 a - c a second embodiment of the tower crane according to the invention is shown in each case.
  • Like reference numerals have the same meaning as those in the first embodiment discussed above.
  • it is an overhead turning tower crane 10, in which the boom 20 is rotatably mounted at the upper end of the tower 18.
  • the tilt sensor 28 is disposed near the turntable 16.
  • the tilt may be implemented in addition to a tilt sensor 28 or instead of a tilt sensor 28 with a pair of GPS transponders 40 and 41. While the GPS transponder 40 is located at the top of the tower 18, the second GPS transponder 41 is located at the base or foot of the crane 10. The difference of the GPS signals of the two transponders allows a determination of the inclination from the rest position, as determined by the Figures 11 a (rest position without inclination), 11 b (deflection in one direction) and 11 c (deflection in the other direction) are shown.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
  • Automation & Control Theory (AREA)

Description

Die vorliegende Anmeldung betrifft ein Verfahren zur Überwachung der Kransicherheit insbesondere eines Turmdrehkrans sowie ein System zur Neigungsüberwachung eines Kranes, gemäß den Ansprüchen 1 und 14.The present application relates to a method for monitoring the crane safety, in particular a tower crane, as well as a system for monitoring the pitch of a crane, according to claims 1 and 14.

Turmdrehkrane werden sehr oft auf- und abgebaut. Dabei müssen die erforderlichen Vorkehrungen getroffen werden, so dass ein angemessenes Sicherheitsniveau sichergestellt ist, insbesondere soll die notwendige Standsicherheit des Kranes gewährleistet werden. Die US20030127409 offenbart ein Verfahren und eine Vorrichtung zur Steuerung/Überwachung des gesicherten Aufklappens und Zusammenklappens eines Turmdrehkrans, wobei ein Ensemble von Sensoren dient dazu, das Eintreffen der Mastelemente und/oder der Auslegerelemente des Krans in Zwischenstellungen und in der Endstellung zu erfassen, wobei diese Sensoren mit einer Ablaufsteuerung-Einheit der Hydraulikzylinder oder anderer Betätigungsvorrichtungen verbunden sind.Tower cranes are often assembled and disassembled. In this case, the necessary precautions must be taken so that an appropriate level of safety is ensured, in particular, the necessary stability of the crane is to be ensured. The US20030127409 discloses a method and a device for controlling / monitoring the secure opening and folding of a tower crane, wherein an ensemble of sensors serves to detect the arrival of the mast elements and / or the boom elements of the crane in intermediate positions and in the end position, said sensors with a sequence control unit of the hydraulic cylinder or other actuators are connected.

Die Überwachung der Standsicherheit eines Kranes erfolgt derzeit in bekannter Weise durch Messung von sekundären Werten an dem Kran. Dabei wird ein Moment als Folge der Belastung des Kranes durch ein Lastmoment überwacht. Alle anderen Einflüsse werden nicht berücksichtigt. Diese Einflüsse sind beispielsweise Fehler bei dem Aufbau des Kranes, wenn er z.B. falsch nivelliert ist, Setzungen des Unterbaus, Toleranzen beim Aufbau des Turmes, Wind, usw..The monitoring of the stability of a crane is currently carried out in a known manner by measuring secondary values on the crane. In this case, a moment as a result of the load of the crane is monitored by a load torque. All other influences are not taken into account. These influences are, for example, errors in the construction of the crane, when e.g. is leveled incorrectly, subsidence of the substructure, tolerances in the construction of the tower, wind, etc ..

Um die Neigung des Krans zu ermitteln, ist es wie in Erdbewegungsmaschinen oder in Mobilkranen üblich, Neigungssensoren zu verwenden, die sehr robust und genau sind und die dazu dienen, entweder die Stabilität der Maschine zu überwachen oder die Qualität der zu verrichtenden Arbeit zu verbessern. Jedoch wird dabei die Position des Oberkrans zum Turmsystem und zum Unterbau überhaupt nicht berücksichtigt.In order to determine the inclination of the crane, it is common, as in earthmoving machines or in mobile cranes, to use tilt sensors which are very robust and accurate and which serve to either monitor the stability of the machine or to improve the quality of the work to be done. However, the position of the upper crane to the tower system and the substructure is not considered at all.

Es ist üblich, quadratische Turmsysteme zu verwenden. Die Standsicherheit ist dabei nur in einzelnen Punkten identisch. In bekannter Weise wird eine Vorrichtung zur kontinuierlichen Bestimmung der Standsicherheit mit vier voneinander beabstandeten Beobachtungspunkten bereitgestellt, welche Einrichtungen zur Erfassung von für die Standsicherheit maßgeblichen Werten aufweist. Diese Einrichtungen leiten die erfassten Werte an eine Vergleichseinrichtung zum Vergleich mit zuvor festgelegten zulässigen Maximalwerten oder schalten direkt ab. Beim Überschreiten eines vorgegebenen festgelegten Wertes an einem Beobachtungspunkt wird ein Überwachungssignal ausgegeben, welches anzeigt, dass die Standsicherheit nicht mehr gegeben ist. Bei der Drehung des Kranes verändert sich die Standsicherheit.It is common to use square tower systems. The stability is identical only in individual points. In a known manner, a device for the continuous determination of the stability is provided with four observation points spaced apart from each other, which has devices for detecting values relevant for the stability. These devices direct the detected values to a comparator for comparison with predetermined maximum allowable values or turn off directly. When a predetermined fixed value is exceeded at an observation point, a monitoring signal is output, which indicates that the stability is no longer present. The rotation of the crane changes the stability.

Die aktuell verwendeten Systeme berücksichtigen somit nur eine definierte und maximale Standsicherheit, ohne Rücksicht auf die Position des Oberkrans. Des Weiteren sind heutzutage Situationen beim Aufbau des Kranes von der Überwachung ausgeschlossen, was beim Aufbau verheerende Folgen haben könnte. Die Überwachung der Standsicherheit beginnt bei den bekannten Systemen erst nachdem der Kran aufgebaut ist. Auch beim Einsatz entstehen Situationen, die aktuell nicht erfasst werden, z.B. Setzungen im Unterbau oder Beschädigungen.The currently used systems thus take into account only a defined and maximum stability, regardless of the position of the upper crane. Furthermore, today situations in the construction of the crane are excluded from the monitoring, which could have devastating consequences in construction. The monitoring of stability begins in the known systems only after the crane is set up. Also in use, situations arise that are not currently detected, e.g. Settlement in the substructure or damage.

Aufgabe der vorliegenden Erfindung ist es daher, ein Verfahren zur Überwachung der Kransicherheit sowie ein System zur Neigungsüberwachung eines Kranes, insbesondere eines Turmdrehkranes, bereitzustellen, so dass die Stabilität des Kranes während des Auf- bzw. Abbaus des Kranes sowie während des gesamten Betriebs gewährleistet ist und die Qualität der verrichteten Arbeit wesentlich verbessert wird.The object of the present invention is therefore to provide a method for monitoring crane safety and a system for checking the inclination of a crane, in particular a tower crane, so that the stability of the crane during construction and dismantling of the crane and throughout the operation is ensured and the quality of the work done is substantially improved.

Das erfindungsgemäße Verfahren zur Überwachung der Sicherheit eines Kranes, insbesondere eines Turmdrehkrans mit einer Drehbühne, welcher eine Sensorik und eine Kransteuerung aufweist, weist in an sich bekannter Weise weiterhin wenigstens einen Neigungssensor auf. Erfindungsgemäß wird der wenigstens eine Neigungssensor an der Drehbühne des Turmdrehkrans angebracht und eingebaut, wobei die Überwachung der Sicherheit noch und zumindest während des Auf- bzw. Abbaus des Turmdrehkranes beginnt. Dabei weist der zumindest eine Neigungssensor eine genaue Auflösung auf und kann eine eigenständige Überwachung des Kranes übernehmen.The inventive method for monitoring the safety of a crane, in particular a tower crane with a turntable, which has a sensor and a crane control, has in a conventional manner further at least one tilt sensor. According to the invention, the at least one tilt sensor attached to the revolving stage of the tower crane and installed, the safety monitoring still begins and at least during the construction and dismantling of the tower crane. In this case, the at least one tilt sensor to an accurate resolution and can take over an independent monitoring of the crane.

Es ist aber auch möglich, den Neigungssensor als Ergänzung von vorhandenen Sicherheitseinrichtungen einzusetzen, um die Genauigkeit der Überwachung und damit die Sicherheit zu erhöhen. Durch die erfindungsgemäße Neigungsüberwachung des Kranes noch während des Aufbaus, kann im Falle einer unzulässigen Neigung der Drehbühne während des Aufbaus des Kranes, der Turmaufbau sofort korrigiert werden.But it is also possible to use the tilt sensor as a supplement to existing safety devices to increase the accuracy of the monitoring and thus safety. Due to the inclination monitoring of the crane according to the invention even during construction, in the case of an inadmissible inclination of the revolving platform during the construction of the crane, the tower structure can be corrected immediately.

Vorzugsweise wird über den wenigstens einen Neigungssensor die Position der Drehbühne ermittelt. Die empfangenen Messwerte werden dann zur Auswertung an die Kransteuerung übermittelt, wobei beim Überschreiten eines Grenzwertes, eine Maßnahme ausgelöst wird. Dies kann ein akustisches und/oder bildliches Signal sein, so dass der Monteur über die Überschreitung des Grenzwertes sofort informiert wird. Daraufhin kann der Aufbau automatisch ober aber auch manuell abgebrochen werden.Preferably, the position of the revolving stage is determined via the at least one inclination sensor. The received measured values are then transmitted to the crane control for evaluation, whereby a measure is triggered when a limit value is exceeded. This can be an acoustic and / or visual signal, so that the installer is informed immediately about the exceeding of the limit value. Thereupon the structure can be aborted automatically but also manually.

Der Aufbau eines Turmdrehkranes beginnt in bekannter Weise mit der Montage des Unterbaus und des Turms. Daraufhin wird die Drehbühne mit dem eingebauten wenigstens einen Neigungssensor aufgesetzt. Die Überwachung nach dem erfindungsgemäßen Verfahren beginnt nach dem Aufsetzen der Drehbühne, die bereits mit dem wenigstens einen Neigungssensor versehen ist. Der wenigstens eine Neigungssensor wird dabei an einer geeigneten Stelle der Drehbühne angebracht, so dass er die Position der Drehbühne zeigt. Über die von dem wenigstens einen Neigungssensor ermittelten Werte wird die Neigung der Drehbühne mit der für den jeweiligen Aufbau vorgesehenen Neigung verglichen, wobei bei einer Überschreitung der zulässigen Neigung ein Warnsignal ausgegeben wird. Die erfassten Daten werden dann protokoliert. Die Kransteuerung weist dabei eine Speichereinheit auf, in der die erfassten Werte gespeichert werden.The construction of a tower crane begins in a known manner with the assembly of the substructure and the tower. Then the revolving stage with the built-in at least one tilt sensor is placed. The monitoring by the method according to the invention begins after placing the revolving stage, which is already provided with the at least one tilt sensor. The at least one inclination sensor is attached to a suitable location of the revolving stage, so that it shows the position of the revolving stage. By means of the values determined by the at least one inclination sensor, the inclination of the revolving stage is compared with the inclination provided for the respective structure, wherein a warning signal is output when the permissible inclination is exceeded. The collected data is then logged. The crane control in this case has a memory unit in which the detected values are stored.

Vorzugsweise kann eine Korrektur der durch den wenigstens einen Neigungssensor ermittelten Daten in Verbindung mit den über einen Windmesser ermittelten Werten vorgenommen werden, so dass eine Freigabe für weitere Montageschritte gegeben wird.Preferably, a correction of the data determined by the at least one tilt sensor can be carried out in conjunction with the values determined via an anemometer, so that a release for further assembly steps is given.

In einem weiteren Schritt wird der Gegenausleger montiert, wobei der Gegenausleger und die Hubwinde ein Moment erzeugen, aus dem in der Folge in Abhängigkeit von der Höhe des Turms eine Neigung resultiert. Diese Neigung kann dann mit dem wenigstens einen Neigungssensor ermittelt und mit in der Kransteuerung gespeicherten Daten verglichen werden.In a further step, the counterjib is mounted, the jib and the hoist winch generating a moment, which subsequently results in a slope depending on the height of the tower. This inclination can then be determined with the at least one inclination sensor and compared with data stored in the crane control.

Als besonders bevorzugt wird es angesehen, wenn zusätzlich zu dem wenigstens einen Neigungssensor ein Drehwinkelsensor eingesetzt wird, um die positionsabhängige Neigung des Turmes zu ermitteln und zwar über Eck oder senkrecht zur Wand. Eine 360° Drehung kann das Neigungsbild - auch in Verbindung mit der Windmessung - vollständig abbilden. Daraufhin erfolgt die Freigabe für weitere Montageschritte, insbesondere für das Auflegen des notwendigen Montagegegenballastes.It is regarded as particularly preferred if in addition to the at least one inclination sensor, a rotation angle sensor is used to determine the position-dependent inclination of the tower and that over corner or perpendicular to the wall. A 360 ° rotation can fully reproduce the inclination pattern - also in conjunction with the wind measurement. Then the release for further assembly steps, in particular for the placement of the necessary mounting counter ballast.

Die Neigung, insbesondere der Neigungswinkel, wird nach der Montage des Gegenballastes ermittelt und mit den gespeicherten, vorgegebenen Werten verglichen. Eine zulässige, aber auch notwendige Neigung bestätigt, dass der Gegenballast zu der montierten Auslegerlänge passt.The inclination, in particular the inclination angle, is determined after the assembly of the counter ballast and compared with the stored, predetermined values. A permissible, but also necessary inclination confirms that the counter ballast matches the mounted boom length.

Vorzugsweise wird die Neigung nach der Montage des Auslegers nochmals notiert, um einen Zwischenschritt zu protokollieren.Preferably, the inclination is noted again after mounting the boom to record an intermediate step.

Die erfindungsgemäße Überwachung mit dem wenigstens einen Neigungssensor erfolgt vorzugsweise nicht nur beim Aufbau sondern auch beim Abbau des Auslegers und/oder Gegenauslegers. Wird dabei die horizontale Kraft größer als zulässig, steigt die Neigung und bei einer Überschreitung von zulässigen Neigungswerten wird erfindungsgemäß ein Warnsignal ausgegeben.The monitoring according to the invention with the at least one tilt sensor is preferably carried out not only during construction but also during dismantling of the jib and / or counter jib. If the horizontal force is greater than permissible, the inclination increases and, if permissible inclination values are exceeded, a warning signal is emitted according to the invention.

Eine Korrektur der durch den wenigstens einen Neigungssensor ermittelten Daten kann in Verbindung mit über einen vorgesehenen Windmesser ermittelten Werten vorgenommen werden, so dass eine Freigabe für weitere Montageschritte erfolgen kann.A correction of the data determined by the at least one inclination sensor can be carried out in conjunction with values determined via an intended anemometer, so that a release for further assembly steps can take place.

Es wird als besonders bevorzugt angesehen, wenn die in der Kransteuerung aufgezeichneten Neigungen in Form einer Lastkurve mit aktuellen Lastmomenten verglichen werden. Dabei werden eventuelle Abweichungen protokolliert und ausgewertet.It is considered to be particularly preferred if the inclinations recorded in the crane control are compared in the form of a load curve with current load torques. Any deviations are logged and evaluated.

Vorzugsweise wird der Neigungswinkel in Abhängigkeit von Lastmoment /Standmoment und Drehwinkel des Kranes nach dem Aufbau während des Betriebs ständig überwacht, wobei Abweichungen von zulässigen abgespeicherten Werten angezeigt werden. Dabei kann auf die Überwachung der Windeinwirkung verzichtet werden. Die Windeinwirkung kann die Neigung entsprechend der Windgeschwindigkeit verändern. Dabei müssen auch nicht vorgesehene Einflüsse, wie Eisschicht, Werbeschilder usw. automatisch berücksichtigt. Sollten diese Abweichungen die zulässigen Grenzwerte überschreiten, wird ein Warnsignal ausgegeben und gegebenenfalls der Betrieb abgebrochen.Preferably, the angle of inclination is constantly monitored as a function of load torque / stationary torque and angle of rotation of the crane after assembly during operation, with deviations from permissible stored values being displayed. It can be dispensed with the monitoring of wind action. The wind action can change the inclination according to the wind speed. In this case, unforeseen influences such as ice sheet, advertising signs, etc. must also be taken into account automatically. If these deviations exceed the permissible limits, a warning signal is output and, if necessary, the operation is aborted.

Bei einer erfindungsgemäßen Überwachung, die auch eine Fernüberwachung sein kann, und zwar im Betrieb oder außer Betrieb, kann sehr schnell festgestellt werden, ob der Kranunterbau richtig aufgebaut ist. Es kann mit dem erfindungsgemäßen Verfahren auch eine genaue Überwachung von Sonderhüben erfolgen.In a monitoring according to the invention, which may also be a remote monitoring, in operation or out of service, it can be determined very quickly whether the crane substructure is constructed correctly. It can also be done with the inventive method, a precise monitoring of special strokes.

Die oben genannte Aufgabe wird erfindungsgemäß auch durch ein System zur Überwachung der Kransicherheit eines Kranes, insbesondere eines Turmdrehkranes mit einer Drehbühne, mit den Merkmalen des Anspruchs 14 gelöst. Das erfindungsgemäße System weist eine Sensorik und eine Kransteuerung auf, wobei wenigstens ein an einer Drehbühne angebrachter Neigungssensor zur Überwachung der Sicherheit während zumindest des Auf- bzw. Abbaus des Turmdrehkranes und auch während des Betriebs des aufgebauten Kranes vorgesehen ist.The above object is also achieved by a system for monitoring the crane safety of a crane, in particular a tower crane with a revolving platform, with the features of claim 14. The system according to the invention has a sensor system and a crane control, at least one inclination sensor mounted on a revolving platform being provided for monitoring the safety during at least the erection and dismantling of the tower crane and also during operation of the erected crane.

Das erfindungsgemäße Verfahren sowie das erfindungsgemäße System können eine weitere Verwendung bei der Überwachung des sogenannten Klettervorgangs finden. Die maximale zulässige Abweichung für jedes Turmsystem kann dabei erreicht und im Überwachungssystem gespeichert werden. Nach der Vorgabe des jeweiligen Systems kann auch ein Ausgleich stattfinden. Dabei kann als besonders vorteilhaft die Tatsache angesehen werden, dass bei der Neigungsüberwachung alle äußere Einflüsse, wie Wind, Summe von Toleranzen am Turm, Zusatzbelastungen beispielsweise durch Seilmenge, usw. berücksichtigt werden.The method according to the invention and the system according to the invention can find a further use in monitoring the so-called climbing process. The maximum permissible deviation for each tower system can be achieved and stored in the monitoring system. After the specification of the respective system also a compensation can take place. It can be regarded as particularly advantageous the fact that the inclination monitoring all external influences, such as wind, sum of tolerances on the tower, additional loads, for example by amount of cable, etc. are taken into account.

Als eine zusätzliche Möglichkeit für den bereits eingebauten Neigungssensor kann auch die Nivellierung eines unten drehenden Turmkranes angesehen werden.As an additional option for the already installed tilt sensor, the leveling of a tower crane turning downwards can also be considered.

Weitere Merkmale, Einzelheiten und Vorteile der Erfindung werden anhand von in den Zeichnungen dargestellten Ausführungsbeispielen näher erläutert. Es zeigen:

Fig. 1
eine vereinfachte schematische Seitenansicht eines Turmdrehkrans gemäß einer ersten Ausführungsform der Erfindung mit einem schematisch dargestellten Neigungssensor zur Durchführung des erfindungsgemäßen Verfahrens,
Fig. 2-3
eine vereinfachte schematische Seitenansicht eines Turmdrehkranes mit Unterbau und Turm,
Fig. 4
eine vereinfachte schematische Seitenansicht des Turmdrehkranes mit dem montierten Gegenausleger,
Fig. 5
eine vereinfachte schematische Seitenansicht des Turmdrehkrans mit Montagegegenballast,
Fig. 6
eine vereinfachte schematische Seitenansicht des Turmdrehkrans mit montiertem Ausleger,
Fig. 7-9
eine vereinfachte schematische Seitenansicht des Turmdrehkrans mit vervollständigtem Gegenballast und montierter Laufkatze am Turm sowie an der Auslegerspitze,
Fig. 10
eine graphische Darstellung der bei der Neigungsüberwachung erstellten Winkelkurve und
Fig. 11 a-c
eine vereinfachte schematische Seitenansicht eines Turmdrehkrans gemäß einer zweiten Ausführungsform der Erfindung .
Further features, details and advantages of the invention will be explained in more detail with reference to embodiments illustrated in the drawings. Show it:
Fig. 1
2 shows a simplified schematic side view of a tower crane according to a first embodiment of the invention with a schematically illustrated tilt sensor for carrying out the method according to the invention,
Fig. 2-3
a simplified schematic side view of a tower crane with base and tower,
Fig. 4
a simplified schematic side view of the tower crane with the mounted counterjib,
Fig. 5
a simplified schematic side view of the tower crane with mounting counter ballast,
Fig. 6
a simplified schematic side view of the tower crane with mounted boom,
Fig. 7-9
a simplified schematic side view of the tower crane with completed counter ballast and mounted trolley on the tower and on the boom tip,
Fig. 10
a graphic representation of the angle curve created during tilt monitoring and
Fig. 11 ac
a simplified schematic side view of a tower crane according to a second embodiment of the invention.

Figur 1 zeigt eine vereinfachte schematische Seitenansicht eines Turmdrehkrans 10 (hier als unten drehender Turmdrehkran) mit einem Unterbau 12 sowie einem Drehturm 14, welcher eine Drehbühne 16 aufweist. Weiterhin weist der Kran 10 einen Turm 18 sowie einen an dem Turm 18 befestigten Ausleger 20 auf. An dem Ausleger 20 befindet sich eine nicht näher dargestellte Laufkatze mit einem Lasthaken, an dem die Last 22 hängt. Die Laufkatze gleitet in einer horizontalen Richtung, die durch einen Pfeil 24 dargestellt ist, entlang dem Ausleger 20. Des Weiteren weist der Kran 10 einen Gegenausleger 26 auf. FIG. 1 shows a simplified schematic side view of a tower crane 10 (here as bottom rotating tower crane) with a base 12 and a turret 14, which has a rotating platform 16. Furthermore, the crane 10 has a tower 18 and a boom 20 attached to the tower 18. On the boom 20 is a trolley not shown with a load hook on which the load 22 depends. The trolley slides in a horizontal direction, represented by an arrow 24, along the boom 20. Furthermore, the crane 10 has a counter-jib 26.

Das erfindungsgemäße System zur Überwachung der Standsicherheit des Turmdrehkrans 10 weist eine Sensorik und eine hier nicht näher dargestellte Kransteuerung auf. An der Drehbühne 16 ist ein Neigungssensor 28 mit einer sehr genauen Auflösung derart eingebaut, dass die Position der Drehbühne 16 leicht ermittelt werden kann.The system according to the invention for monitoring the stability of the tower crane 10 has a sensor system and a crane control not shown here. On the turntable 16, a tilt sensor 28 is installed with a very accurate resolution such that the position of the turntable 16 can be easily determined.

Die eigentliche Überwachung beginnt erfindungsgemäß noch beim Aufbau des Kranes 10, wobei in an sich bekannterweise zuerst der Unterbau 12 und der Mast oder der Turm 18 montiert wird und erst danach die Drehbühne 16 mit dem bereits eingebauten Neigungssensor 28 aufgesetzt wird. Der Neigungssensor 28 zeigt die Position der Drehbühne 16. Ist die Neigung der Drehbühne größer als die für die Turmhöhe vorgesehene, wird der Monteur informiert und die empfangenen und ausgewerteten Daten werden dann protokoliert.The actual monitoring begins according to the invention still in the construction of the crane 10, wherein in known per se first the substructure 12 and the mast or the tower 18 is mounted and only then the turntable 16 is fitted with the already installed tilt sensor 28. The inclination sensor 28 shows the position of the revolving stage 16. Is the inclination of the revolving stage greater than that for the tower height provided, the fitter is informed and the received and evaluated data are then logged.

Die Figuren 2 und 3 zeigen eine vereinfachte schematische Ansicht eines Kranes 10 (hier als oben drehender Turmdrehkran) mit der Drehbühne 16 und dem Turm 18. Die Neigung der Drehbühne 16 wird anhand des Winkels a(x), wie in den Figuren 2 und 3 gezeigt, in Abhängigkeit von der Turmhöhe/Turmkombination, TH(x) über den Neigungssensor 28 ermittelt und mit in der Kransteuerung gespeicherten zulässigen Neigungswerten verglichen. Sollte die Neigung in den zulässigen Grenzen liegen, wird der Aufbau des Kranes fortgesetzt. Sollte aber die Neigung der Drehbühne größer als die für den jeweiligen Aufbau (Turmhöhe) vorgesehene sein, wird ein Warnsignal ausgegeben, so dass der Monteur sofort informiert und der weitere Aufbau des Kranes unterbrochen wird. Nach einer Korrektur wird dann der Aufbau fortgesetzt. Es können auch mehrere Neigungssensoren vorgesehen sein.The Figures 2 and 3 show a simplified schematic view of a crane 10 (here as tower tower rotating overhead crane) with the revolving platform 16 and the tower 18. The inclination of the revolving platform 16 is determined by the angle a (x), as in Figures 2 and 3 shown, as a function of the tower height / tower combination, TH (x) determined via the inclination sensor 28 and compared with allowable inclination values stored in the crane control. If the inclination is within the permissible limits, the structure of the crane is continued. However, if the inclination of the revolving stage is greater than that intended for the respective structure (tower height), a warning signal is output, so that the installer is informed immediately and the further construction of the crane is interrupted. After a correction, the structure is then continued. It can also be provided more inclination sensors.

Fig. 4 zeigt die weiteren Montageschritte, nämlich das Montieren des Gegenauslegers 26. Der Gegenausleger 26 und die Hubwinde erzeugen hierbei ein Moment, aus dem in der Folge in Verbindung mit der Turmhöhe eine Neigung resultiert. Die Neigung wird mit dem Neigungssensor 28 ermittelt, wobei der Winkel α1(x) protokoliert wird. Sollte der Winkel α1(x) größer sein als einen zulässigen Winkel, wird ein Warnsignal ausgegeben. Dabei muss auch ein Drehwinkelsensor eingesetzt werden, um die positionsabhängige Neigung des Turmes zu ermitteln. Das Neigungsbild wird dann um 360° gedreht und in Verbindung mit der Windmessung vollständig abgebildet. Fig. 4 shows the further assembly steps, namely the mounting of the counter-jib 26. The counter-jib 26 and the hoist winch thereby generate a moment from which results in a consequent inclination in connection with the tower height. The inclination is determined with the inclination sensor 28, wherein the angle α1 (x) is recorded. If the angle α1 (x) is greater than a permissible angle, a warning signal is output. In this case, a rotation angle sensor must be used to determine the position-dependent inclination of the tower. The tilt image is then rotated through 360 ° and completely imaged in conjunction with the wind measurement.

Wenn die zulässige Neigung nicht überschritten worden ist, erfolgt die Freigabe für das Auflegen des Montagegegenballastes 30, wie in der Figur 5 dargestellt. Dabei wird der Winkel α2(x) wieder in Abhängigkeit von der Turmhöhe/Turmkombination (x) ermittelt und mit den gespeicherten Werten verglichen.If the allowable inclination has not been exceeded, the release for the laying of the counter-ballast 30, as in the FIG. 5 shown. The angle α2 (x) is again determined as a function of the tower height / tower combination (x) and compared with the stored values.

Danach wird der Ausleger 20 montiert, wie in Fig. 6 gezeigt, und die Neigung anhand des Winkels α3(x) ermittelt. Dieser ist im Vergleich zu dem Winkel α2(x) zwar größer, jedoch eine zulässige, aber auch notwendige Neigung bestätigt, dass der Gegenballast zu der montierten Auslegerlänge passt. Die Neigung wird nochmals notiert, um einen Zwischenschritt zu protokollieren.Thereafter, the boom 20 is mounted as in Fig. 6 and the inclination is determined by the angle α3 (x). This is in comparison to the angle α2 (x), although larger, but a permissible, but also necessary tendency confirmed that the counter ballast fits to the assembled boom length. The slope is noted again to record an intermediate step.

Fig. 7 zeigt die Laufkatze in der Montageposition. Der Gegenballast 30 wird dabei vervollständigt und der Winkel α4(x) ermittelt. Der Kran wird um 360° gedreht, um die Zulässigkeit der Neigungen für die festgelegte Konfiguration des Kranes zu bestätigen. Dies kann mit der Laufkatze 32 am Turm, wie in Fig. 8 gezeigt, und/oder mit der Laufkatze 32 an der Auslegerspitze 34, wie in Fig. 9 gezeigt, erfolgen. Dabei werden jeweils die Winkel α5(x) und α6(x) ermittelt und mit den zulässigen Winkeln verglichen. Fig. 7 shows the trolley in the mounting position. The counter ballast 30 is completed and the angle α4 (x) determined. The crane is rotated by 360 ° to confirm the permissibility of the slopes for the specified configuration of the crane. This can be done with the trolley 32 on the tower, as in Fig. 8 shown and / or with the trolley 32 on the boom tip 34, as in Fig. 9 shown, done. In each case, the angles α5 (x) and α6 (x) are determined and compared with the permissible angles.

Wie in Fig. 10 dargestellt, wird eine Winkelkurve erstellt, bei deren Kontrolle die Neigungen mit aktuellen Belastungen verglichen werden. Die eventuellen Abweichungen werden dann protokolliert. Für alle Funktionen ist dabei Ablauf ähnlich. Es wird der Neigungswinkel ermittelt und zwar in Abhängigkeit von der Position zum Turm und die Funktion "max. und min.", d.h. die Einstellung eines Interwalles als Grenze für die Warnungen bzw. Abschaltungen verwendet.As in Fig. 10 In this way, an angle curve is created, which checks the inclinations against current loads. The possible deviations are then logged. For all functions this process is similar. The angle of inclination is determined as a function of the position to the tower and the function "max and min.", Ie the setting of an interval is used as the limit for the warnings or shutdowns.

In den Figuren 11 a - c ist jeweils eine zweite Ausführungsform des erfindungsgemäßen Turmdrehkranes dargestellt. Gleiche Bezugszeichen haben die gleiche Bedeutung wie diejenigen in der zuvor diskutierten ersten Ausführungsform. Bei dieser Ausführungsform handelt es sich um einen oben drehenden Turmdrehkran 10, bei dem der Ausleger 20 am oberen Ende des Turmes 18 drehbar gelagert ist. Der Neigungssensor 28 ist nahe der Drehbühne 16 angeordnet.In the Figures 11 a - c, a second embodiment of the tower crane according to the invention is shown in each case. Like reference numerals have the same meaning as those in the first embodiment discussed above. In this embodiment, it is an overhead turning tower crane 10, in which the boom 20 is rotatably mounted at the upper end of the tower 18. The tilt sensor 28 is disposed near the turntable 16.

In der hier dargestellten Ausführungsform kann die Neigung zusätzlich zu einem Neigungssensor 28 oder anstatt eines Neigungssensors 28 mit einem Paar von GPS Transpondern 40 und 41 verwirklicht werden. Während der GPS-Transponder 40 an der Spitze des Turms 18 angeordnet ist, ist der zweite GPS Transponder 41 am Unterbau oder Fuß bzw. unteren Teil des Kranes 10 angeordnet. Die Differenz der GPS Signale der beiden Transponder ermöglicht eine Bestimmung der Neigung aus der Ruhestellung, wie anhand der Figuren 11 a (Ruhestellung ohne Neigung), 11 b (Auslenkung in eine Richtung) und 11 c (Auslenkung in die andere Richtung) gezeigt.In the embodiment illustrated here, the tilt may be implemented in addition to a tilt sensor 28 or instead of a tilt sensor 28 with a pair of GPS transponders 40 and 41. While the GPS transponder 40 is located at the top of the tower 18, the second GPS transponder 41 is located at the base or foot of the crane 10. The difference of the GPS signals of the two transponders allows a determination of the inclination from the rest position, as determined by the Figures 11 a (rest position without inclination), 11 b (deflection in one direction) and 11 c (deflection in the other direction) are shown.

Claims (14)

  1. A method of monitoring the safety of a revolving tower crane (10) having a revolving deck (16), wherein the crane (10) has a sensor system and a crane control, and wherein furthermore at least one tilt sensor (28) is provided,
    characterized in that
    the at least one tilt sensor (28) is attached and installed at the revolving deck (16) of the revolving tower crane (10), and in that the monitoring of the crane safety takes place at least during the putting up and taking down of the revolving tower crane (10), and that the putting up of the crane (10) starts with the assembly of its substructure and of the tower (18) and the revolving deck (16) having the installed at least one tilt sensor (28) is thereupon placed on, with the monitoring starting after the placing on of the revolving deck (16).
  2. A method in accordance with claim 1, characterized in that the position of the revolving deck (16) is determined via the at least one tilt sensor (28) and the received measured values are transmitted to the crane control for evaluation, with an action being triggered on an exceeding of a predefined limit value.
  3. A method in accordance with one of the preceding claims, characterized in that the inclination of the revolving deck (16) determined using the values determined by means of the at least one tilt sensor (28) is compared with inclination values provided for the respective setup, with a warning signal being output on an exceeding of a permitted tilt, in particular of a permitted angle of inclination, with the determined data being logged.
  4. A method in accordance with one of the preceding claims, characterized in that a correction of the data determined by the at least one tilt sensor (28) is carried out in conjunction with values determined via a provided wind gauge so that a release is given for further assembly steps.
  5. A method in accordance with one of the preceding claims, characterized in that the inclination results from a torque generated by the counter-boom and the hoist winch and in dependence on the height of the tower (18) of the revolving tower crane (10) after the assembly of the counter-boom (26), with the inclination resulting therefrom being determined by the at least one tilt sensor (28) and being compared with data stored in the crane control.
  6. A method in accordance with one of the preceding claims, characterized in that an angle of rotation sensor is provided in addition to the at least one tilt sensor (28), to determine the position-dependent inclination of the tower, with the release for the placing on of an assembly counter-ballast (30) thereupon taking place.
  7. A method in accordance with one of the preceding claims, characterized in that the inclination, in particular an angle of inclination α(x), is determined after the assembly of the boom and is noted to log an intermediate step.
  8. A method in accordance with one of the preceding claims, characterized in that the counter-ballast (30) is completed in a further method step, with the correctness of permitted inclinations for a fixed configuration of the crane (10) being confirmed by a full rotation of the crane thus set up by 360°, and with the rotation being able to take place with an installed trolley (32) at the tower (18) and/or with a trolley (32) at the boom tip.
  9. A method in accordance with one of the preceding claims, characterized in that the crane (10) is rotated by 360° after completion of the counter-ballast to confirm the correctness of inclinations for the fixed configuration.
  10. A method in accordance with one of the preceding claims, characterized in that the monitoring does not only take place by the at least one tilt sensor (28) during the putting up, but also during the taking down of the boom (20) and/or counter-boom (26) such that a warning signal is output on an exceeding of permitted inclination values.
  11. A method in accordance with one of the preceding claims, characterized in that the inclinations that are recorded in the crane control are compared in the form of a load curve with current load torques, with any deviations being logged.
  12. A method in accordance with one of the preceding claims, characterized in that the angle of inclination in dependence on the load torque/static torque and angle of rotation of the crane (10) is constantly monitored during operation, with deviations from permitted stored values being displayed.
  13. A method in accordance with one of the preceding claims, characterized in that the inclination is monitored during the climbing procedure on the putting up and taking down of the revolving tower crane (10).
  14. A system for monitoring crane safety, in particular of a revolving tower crane (10) having a revolving deck (16), wherein the system has a sensor system and a crane control, and wherein at least one tilt sensor attached and installed at the revolving deck (16) is provided for monitoring the safety during the putting up and taking down of the revolving tower crane (10) and/or during the operation of the erected crane.
EP15808541.5A 2014-12-23 2015-12-09 Method for monitoring crane safety and system for monitoring crane safety Active EP3237320B1 (en)

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RU2017126031A (en) 2019-01-24
US10752473B2 (en) 2020-08-25
RU2696650C2 (en) 2019-08-05
CN107207222A (en) 2017-09-26
DE102014019465A1 (en) 2016-06-23
CN107207222B (en) 2019-08-13
EP3237320A1 (en) 2017-11-01
ES2738916T3 (en) 2020-01-27
BR112017013364B1 (en) 2022-02-22
BR112017013364A2 (en) 2018-01-09
US20170369287A1 (en) 2017-12-28
RU2017126031A3 (en) 2019-06-05
WO2016102050A1 (en) 2016-06-30

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